Telepresence robot with a camera boom

ABSTRACT

A remote controlled robot with a head that supports a monitor and is coupled to a mobile platform. The mobile robot also includes an auxiliary camera coupled to the mobile platform by a boom. The mobile robot is controlled by a remote control station. By way of example, the robot can be remotely moved about an operating room. The auxiliary camera extends from the boom so that it provides a relatively close view of a patient or other item in the room. An assistant in the operating room may move the boom and the camera. The boom may be connected to a robot head that can be remotely moved by the remote control station.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The subject matter disclosed generally relates to the field oftele-presence.

2. Background Information

Robots have been used in a variety of applications ranging from remotecontrol of hazardous material to assisting in the performance ofsurgery. For example, U.S. Pat. No. 5,762,458 issued to Wang et al.discloses a system that allows a surgeon to perform minimally invasivemedical procedures through the use of robotically controlledinstruments. One of the robotic arms in the Wang system moves anendoscope that has a camera. The camera allows a surgeon to view asurgical area of a patient.

There has been marketed a mobile robot introduced by InTouchTechnologies, Inc., the assignee of this application, under thetrademark RP-7. The InTouch robot is controlled by a user at a remotestation. The remote station may be a personal computer with a joystickthat allows the user to remotely control the movement of the robot. Boththe robot and remote station have cameras, monitors, speakers andmicrophones to allow for two-way video/audio communication. The robotcamera provides video images to a screen at the remote station so thatthe user can view the robot's surroundings and move the robotaccordingly.

The InTouch robot system can be used by doctors to remotely view anddiagnose patients. For example, the robot can be used in an operatingroom so the remote operator can provide assistance in a procedure. Someoperating rooms include monitors and/or cameras that are mounted onbooms. The cameras may provide images to the remote viewer. The camerasare located relatively far from the operating table or provide anundesirable vantage point such that the images may not be of asatisfactory quality for the remote user. For example, the remote usermay want a higher quality image of a wound or surgical site of thepatient. Additionally, there are operating rooms that do not have boommounted cameras. It would be desirable to provide a remote camerafunction for such rooms in a cost effective manner.

BRIEF SUMMARY OF THE INVENTION

A remote controlled robot with a head that supports a monitor and iscoupled to a mobile platform. The mobile robot also includes anauxiliary camera coupled to the mobile platform by a boom.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of a robotic system;

FIG. 2 is a schematic of an electrical system of the robot;

FIG. 3 is an illustration of a robot;

FIG. 4 is an illustration of a mobile robot in an operating room;

FIG. 5 is a graphical user interface of a remote station.

DETAILED DESCRIPTION

Disclosed is a remote controlled robot with a head that supports amonitor and is coupled to a mobile platform. The mobile robot alsoincludes an auxiliary camera coupled to the mobile platform by a boom.The mobile robot is controlled by a remote control station. By way ofexample, the robot can be remotely moved about an operating room. Theauxiliary camera extends from the boom so that it provides a relativelyclose view of a patient or other item in the room. An assistant in theoperating room may move the boom and the camera. The boom may beconnected to a robot head that can be remotely moved by the remotecontrol station by moving a robot head. Alternatively, the boom may beconnected to the body of the robot and remotely moved by moving therobot.

Referring to the drawings more particularly by reference numbers, FIG. 1shows a robotic system 10 that can be used to conduct a remote visit.The robotic system 10 includes a robot 12, a base station 14 and aremote control station 16. The remote control station 16 may be coupledto the base station 14 through a network 18. By way of example, thenetwork 18 may be either a packet switched network such as the Internet,or a circuit switched network such has a Public Switched TelephoneNetwork (PSTN) or other broadband system. The base station 14 may becoupled to the network 18 by a modem 20 or other broadband networkinterface device. By way of example, the base station 14 may be awireless router. Alternatively, the robot 12 may have a directconnection to the network thru for example a satellite.

The remote control station 16 may include a computer 22 that has amonitor 24, a camera 26, a microphone 28 and a speaker 30. The computer22 may also contain an input device 32 such as a joystick or a mouse.The control station 16 is typically located in a place that is remotefrom the robot 12. Although only one remote control station 16 is shown,the system 10 may include a plurality of remote stations. In general anynumber of robots 12 may be controlled by any number of remote stations16 or other robots 12. For example, one remote station 16 may be coupledto a plurality of robots 12, or one robot 12 may be coupled to aplurality of remote stations 16, or a plurality of robots 12.

Each robot 12 includes a movement platform 34 that is attached to arobot housing 36. Also attached to the robot housing 36 is a camera 38,a monitor 40, a microphone(s) 42 and a speaker(s) 44. The microphone 42and speaker 30 may create a stereophonic sound. The robot 12 may alsohave an antenna 46 that is wirelessly coupled to an antenna 48 of thebase station 14. The system 10 allows a user at the remote controlstation 16 to move the robot 12 through operation of the input device32. The robot camera 38 is coupled to the remote monitor 24 so that auser at the remote station 16 can view a subject such as a patient.Likewise, the robot monitor 40 is coupled to the remote camera 26 sothat the patient can view the user. The microphones 28 and 42, andspeakers 30 and 44, allow for audible communication between the patientand the user.

The remote station computer 22 may operate Microsoft OS software andWINDOWS XP or other operating systems such as LINUX. The remote computer22 may also operate a video driver, a camera driver, an audio driver anda joystick driver. The video images may be transmitted and received withcompression software such as MPEG CODEC.

The robot 12 includes an auxiliary camera 50 that extends from a boom52. The boom 52 may have one or more passive joints such as slip, springor ratchet joints. The camera 50 may also have a passive and/or activemovement mechanism. This allows someone to manually move the position ofthe camera 50 relative to the robot 12. The auxiliary camera 50 can beattached to the electrical system of the robot 12 so that imagescaptured by the camera 50 are transmitted to the remote control station16 via the robot 12. Alternatively, the camera 50 may directlywirelessly transmit the video to the robot 12 for further transmissionto the base station 14.

The camera 50 can be connected to the boom 52 with a quick releasemechanism (not shown). The quick release mechanism allows the camera 50to be readily detached from the boom 52. The camera 50 may a battery anda wireless transmitter that allows for hand held usage. The wirelesstransmitter may transmit images to the robot 12 for further transmissionto the remote station 14.

FIG. 2 shows an embodiment of a robot 12. Each robot 12 may include ahigh level control system 150 and a low level control system 152. Thehigh level control system 150 may include a processor 154 that isconnected to a bus 156. The bus 156 is coupled to the camera 38 by aninput/output (I/O) port 158. The monitor 40 is coupled to the bus 156 bya serial output port 160 and a VGA driver 162. The monitor 40 mayinclude a touchscreen function that allows a user to enter input bytouching the monitor screen.

The speaker 44 is coupled to the bus 156 by a digital to analogconverter 164. The microphone 42 is coupled to the bus 156 by an analogto digital converter 166. The high level controller 150 may also containrandom access memory (RAM) device 168, a non-volatile RAM device 170 anda mass storage device 172 that are all coupled to the bus 156. The massstorage device 172 may contain medical files of the patient that can beaccessed by the user at the remote control station 16. For example, themass storage device 172 may contain a picture of the patient. The user,particularly a health care provider, can recall the old picture and makea side by side comparison on the monitor 24 with a present video imageof the patient provided by the camera 38. The robot antennae 46 may becoupled to a wireless transceiver 174. By way of example, thetransceiver 174 may transmit and receive information in accordance withIEEE 802.11b.

The auxiliary camera 50 may be coupled to the bus 156 by a serial outputport 175. The serial port 175 may include a Universal AsynchronousReceiver/Transmitter (“UART”) interface.

The controller 154 may operate with a LINUX OS operating system. Thecontroller 154 may also operate MS WINDOWS along with video, camera andaudio drivers for communication with the remote control station 16.Video information may be transceived using MPEG CODEC compressiontechniques. The software may allow the user to send e-mail to thepatient and vice versa, or allow the patient to access the Internet. Ingeneral the high level controller 150 operates to control communicationbetween the robot 12 and the remote control station 16.

The remote control station 16 may include a computer that is similar tothe high level controller 150. The computer would have a processor,memory, I/O, software, firmware, etc. for generating, transmitting,receiving and processing information.

The high level controller 150 may be coupled to the low level controlcircuit 152 by serial port 176. The low level control 152 runs softwareroutines that mechanically actuate the robot 12. For example, the lowlevel control 152 provides instructions to actuate the movement platformto move the robot 12. The low level control 152 may receive movementinstructions from the high level control 150. The movement instructionsmay be received as movement commands from the remote control station oranother robot. Although two controllers are shown, it is to beunderstood that each robot 12 may have one controller, or more than twocontrollers, controlling the high and low level functions.

FIG. 3 shows an embodiment of the robot 12. The robot 12 may include aholonomic platform 200 that is attached to a robot housing 202. Theholonomic platform 200 provides three degrees of freedom to allow therobot 12 to move in any direction.

The robot 12 may have a head 204 that supports the camera 38, themonitor 40 and boom 52. The head 204 may have two degrees of freedom sothat the camera 38, monitor 40 and auxiliary camera 50 can together beswiveled and pivoted as indicated by the arrows. The system may be thesame or similar to a robotic system provided by the assigneeInTouch-Health, Inc. of Santa Barbara, Calif. under the name RP-7. Thesystem may also be the same or similar to the system disclosed in U.S.Pat. No. 6,925,357 issued Aug. 2, 2005, which is hereby incorporated byreference.

As shown in FIG. 4 the robot 12 can be maneuvered about an operatingroom 250 that has an operating table 252. The room 250 may also have amonitor 254 located at the end of a boom 256 and a lamp 258 supported byboom 260.

The robot 12 can be moved by the operator at the remote station (notshown) so that the auxiliary camera 50 is located above the operatingtable 252. A person in the operating room may manually adjust the robotboom 52 to obtain a desired view through the camera 50. The remoteoperator may also move the auxiliary camera 50 by actuating the robothead 204 in the pan and/or tilt degrees of freedom. Mounting theauxiliary camera on the end of the boom 52 allows the camera 50 to takepictures/video of a patient located on the table 252 from a preferredvantage point.

FIG. 5 shows a display user interface (“DUI”) 300 that can be displayedat the remote station 16. The DUI 300 may include a robot view field 302that displays a video image provided by the camera of the robot. The DUI300 may also include a station view field 304 that displays a videoimage provided by the camera of the remote station 16. The DUI 300 mayalso have an auxiliary camera field 306 that displays the picture/videoprovided by the auxiliary camera of the robot. The DUI may have agraphical button (not shown) that can be selected so the auxiliarycamera image is displayed in field 302. When the auxiliary image isdisplayed in field 302 the robot may operate in a mode that minimizesvibration and other disturbances that may cause unwanted movement of thecamera 50. The DUI 300 may be part of an application program stored andoperated by the computer 22 of the remote station 16. The display userinterface and the various features and functions provided by theinterface may be the same or similar to the DUI provided by the RP-7system.

The robot 12 can be maneuvered through a site such as an operating roomby manipulating the input device 32 at a remote station 16. The camerasand monitors at both the robot and remote control stations allow fortele-conferencing between the patient and the person at the remotestation(s). The robot 10 may be controlled by a number of differentusers. To accommodate for this the robot may have an arbitration system.The arbitration system may be integrated into the operating system ofthe robot 12. For example, the arbitration technique may be embeddedinto the operating system of the high-level controller 150.

By way of example, the users may be divided into classes that includethe robot itself, a local user, a caregiver, a doctor, a family member,or a service provider. The robot 12 may override input commands thatconflict with robot operation. For example, if the robot runs into awall, the system may ignore all additional commands to continue in thedirection of the wall. A local user is a person who is physicallypresent with the robot. The robot could have an input device that allowslocal operation. For example, the robot may incorporate a voicerecognition system that receives and interprets audible commands.

A caregiver is someone who remotely monitors the patient. A doctor is amedical professional who can remotely control the robot and also accessmedical files contained in the robot memory. The family and serviceusers remotely access the robot. The service user may service the systemsuch as by upgrading software, or setting operational parameters.

The robot 12 may operate in one of two different modes; an exclusivemode, or a sharing mode. In the exclusive mode only one user has accesscontrol of the robot. The exclusive mode may have a priority assigned toeach type of user. By way of example, the priority may be in order oflocal, doctor, caregiver, family and then service user. In the sharingmode two or more users may share access with the robot. For example, acaregiver may have access to the robot, the caregiver may then enter thesharing mode to allow a doctor to also access the robot. Both thecaregiver and the doctor can conduct a simultaneous tele-conference withthe patient.

The system 10 can be used for doctor proctoring where a doctor at theremote station provides instructions and feedback to a doctor located inthe vicinity of the robot. For example, a doctor at the remote locationcan view a patient and assist a doctor at the patient location in adiagnosis. Likewise, the remote doctor can assist in the performance ofa medical procedure at the robot location.

The arbitration scheme may have one of four mechanisms; notification,timeouts, queue and call back. The notification mechanism may informeither a present user or a requesting user that another user has, orwants, access to the robot. The timeout mechanism gives certain types ofusers a prescribed amount of time to finish access to the robot. Thequeue mechanism is an orderly waiting list for access to the robot. Thecall back mechanism informs a user that the robot can be accessed. Byway of example, a family user may receive an e-mail message that therobot is free for usage. Tables I and II, show how the mechanismsresolve access request from the various users.

TABLE I Access Medical Command Software/Debug Set User Control RecordOverride Access Priority Robot No No Yes (1) No No Local No No Yes (2)No No Caregiver Yes Yes Yes (3) No No Doctor No Yes No No No Family NoNo No No No Service Yes No Yes Yes Yes

TABLE II Requesting User Local Caregiver Doctor Family Service CurrentLocal Not Allowed Warn current user of Warn current user of Warn currentuser of Warn current user of User pending user pending user pending userpending user Notify requesting user Notify requesting user Notifyrequesting user Notify requesting user that system is in use that systemis in use that system is in use that system is in use Set timeout Settimeout = 5 m Set timeout = 5 m No timeout Call back Call back CaregiverWarn current user of Not Allowed Warn current user of Warn current userof Warn current user of pending user. pending user pending user pendinguser Notify requesting user Notify requesting user Notify requestinguser Notify requesting user that system is in use. that system is in usethat system is in use that system is in use Release control Set timeout= 5 m Set timeout = 5 m No timeout Queue or callback Callback DoctorWarn current user of Warn current user of Warn current user of Notifyrequesting user Warn current user of pending user pending user pendinguser that system is in use pending user Notify requesting user Notifyrequesting user Notify requesting user No timeout Notify requesting userthat system is in use that system is in use that system is in use Queueor callback that system is in use Release control Set timeout = 5 m Notimeout No timeout Callback Callback Family Warn current user of Notifyrequesting user Warn current user of Warn current user of Warn currentuser of pending user that system is in use pending user pending userpending user Notify requesting user No timeout Notify requesting userNotify requesting user Notify requesting user that system is in use Putin queue or that system is in use that system is in use that system isin use Release Control callback Set timeout = 1 m Set timeout = 5 m Notimeout Queue or callback Callback Service Warn current user of Notifyrequesting user Warn current user of Warn current user of Not Allowedpending user that system is in use request pending user Notifyrequesting user No timeout Notify requesting user Notify requesting userthat system is in use Callback that system is in use that system is inuse No timeout No timeout No timeout Callback Queue or callback

The information transmitted between the station 16 and the robot 12 maybe encrypted. Additionally, the user may have to enter a password toenter the system 10. A selected robot is then given an electronic key bythe station 16. The robot 12 validates the key and returns another keyto the station 16. The keys are used to encrypt information transmittedin the session.

The robot 12 and remote station 16 transmit commands through thebroadband network 18. The commands can be generated by the user in avariety of ways. For example, commands to move the robot may begenerated by moving the joystick 32 (see FIG. 1). The commands arepreferably assembled into packets in accordance with TCP/IP protocol.Table III provides a list of control commands that are generated at theremote station and transmitted to the robot through the network.

TABLE III Control Commands Command Example Description drive drive 10.00.0 5.0 The drive command directs the robot to move at the specifiedvelocity (in cm/sec) in the (x, y) plane, and turn its facing at thespecified rate (degrees/sec). goodbye goodbye The goodbye commandterminates a user session and relinquishes control of the robotgotoHomePosition gotoHomePosition 1 The gotoHomePosition command movesthe head to a fixed “home” position (pan and tilt), and restores zoom todefault value. The index value can be 0, 1, or 2. The exact pan/tiltvalues for each index are specified in robot configuration files. headhead vel pan 5.0 tilt The head command controls the head motion. 10.0 Itcan send commands in two modes, identified by keyword: either positional(“pos”) or velocity (“vol”). In velocity mode, the pan and tilt valuesare desired velocities of the head on the pan and tilt axes, indegree/sec. A single command can include just the pan section, or justthe tilt section, or both. keepalive keepalive The keepalive commandcauses no action, but keeps the communication (socket) link open so thata session can continue. In scripts, it can be used to introduce delaytime into the action. odometry odometry 5 The odometry command enablesthe flow of odometry messages from the robot. The argument is the numberof times odometry is to be reported each second. A value of 0 turnsodometry off. reboot reboot The reboot command causes the robot computerto reboot immediately. The ongoing session is immediately broken off.restoreHeadPosition restoreHeadPosition The restoreHeadPositionfunctions like the gotoHomePosition command, but it homes the head to aposition previously saved with gotoHomePosition. saveHeadPositionsaveHeadPosition The saveHeadPosition command causes the robot to savethe current head position (pan and tilt) in a scratch location intemporary storage so that this position can be restored. Subsequentcalls to “restoreHeadPosition” will restore this saved position. Eachcall to saveHeadPosition overwrites any previously saved position.setCameraFocus setCameraFocus 100.0 The setCameraFocus command controlsfocus for the camera on the robot side. The value sent is passed “raw”to the video application running on the robot, which interprets itaccording to its own specification. setCameraZoom setCameraZoom 100.0The setCameraZoom command controls zoom for the camera on the robotside. The value sent is passed “raw” to the video application running onthe robot, which interprets it according to its own specification.shutdown Shutdown The shutdown command shuts down the robot and powersdown its computer. stop stop The stop command directs the robot to stopmoving immediately. It is assumed this will be as sudden a stop as themechanism can safely accommodate. timing Timing 3245629 500 The timingmessage is used to estimate message latency. It holds the UCT value(seconds + milliseconds) of the time the message was sent, as recordedon the sending machine. To do a valid test, you must compare results ineach direction (i.e., sending from machine A to machine B, then frommachine B to machine A) in order to account for differences in theclocks between the two machines. The robot records data internally toestimate average and maximum latency over the course of a session, whichit prints to log files. userTask userTask “Jane Doe” The userTaskcommand notifies the robot of “Remote Visit” the current user and task.It typically is sent once at the start of the session, although it canbe sent during a session if the user and/or task change. The robot usesthis information for record-keeping. print print -doctor The printcommand causes the robot printer “<string>” -patient to printaccompanying information. “<string>” -order “<string>” [-room“<string>”] [-id “<string>”]

Table IV provides a list of reporting commands that are generated by therobot and transmitted to the remote station through the network.

TABLE IV Reporting Commands Command Example Description abnormalExitabnormalExit This message informs the user that the robot software hascrashed or otherwise exited abnormally. Te robot software catches top-level exceptions and generates this message if any such exceptionsoccur. bodyType bodyType 3 The bodyType message informs the stationwhich type body (using the numbering of the mechanical team) the currentrobot has. This allows the robot to be drawn correctly in the stationuser interface, and allows for any other necessary body-specificadjustments. driveEnabled driveEnabled true This message is sent at thestart of a session to indicate whether the drive system is operational.emergencyShutdown emergencyShutdown This message informs the stationthat the robot software has detected a possible “runaway” condition (anfailure causing the robot to move out of control) and is shutting theentire system down to prevent hazardous motion. odometry odometry 10 20340 The odometry command reports the current (x, y) position (cm) andbody orientation (degrees) of the robot, in the original coordinatespace of the robot at the start of the session. sensorGroup group_dataSensors on the robot are arranged into groups, each group of a singletype (bumps, range sensors, charge meter, etc.) The sensorGroup messageis sent once per group at the start of each session. It contains thenumber, type, locations, and any other relevant data for the sensors inthat group. The station assumes nothing about the equipment carried onthe robot; everything it knows about the sensors comes from thesensorGroup messages. sensorState groupName state data The sensorStatecommand reports the current state values for a specified group ofsensor. The syntax and interpretation for the state data is specific toeach group. This message is sent once for each group at each sensorevaluation (normally several times per second). systemError systemErrorThis message informs the station user of a driveController failure inone of the robot's subsystems. The error_type argument indicates whichsubsystem failed, including driveController, sensorController, headHome.systemInfo systemInfo wireless 45 This message allows regular reportingof information that falls outside the sensor system such as wirelesssignal strength. text text “This is some The text string sends a textstring from the text” robot to the station, where the string isdisplayed to the user. This message is used mainly for debugging.version version 1.6 This message identifies the software versioncurrently running on the robot. It is sent once at the start of thesession to allow the station to do any necessary backward compatibilityadjustments.

The processor 154 of the robot high level controller 150 may operate aprogram that determines whether the robot 12 has received a robotcontrol command within a time interval. For example, if the robot 12does not receive a control command within 2 seconds then the processor154 provides instructions to the low level controller 150 to stop therobot 12. Although a software embodiment is described, it is to beunderstood that the control command monitoring feature could beimplemented with hardware, or a combination of hardware and software.The hardware may include a timer that is reset each time a controlcommand is received and generates, or terminates, a command or signal,to stop the robot.

The remote station computer 22 may monitor the receipt of video imagesprovided by the robot camera. The computer 22 may generate and transmita STOP command to the robot if the remote station does not receive ortransmit an updated video image within a time interval. The STOP commandcauses the robot to stop. By way of example, the computer 22 maygenerate a STOP command if the remote control station does not receive anew video image within 2 seconds. Although a software embodiment isdescribed, it is to be understood that the video image monitoringfeature could be implemented with hardware, or a combination of hardwareand software. The hardware may include a timer that is reset each time anew video image is received and generates, or terminates, a command orsignal, to generate the robot STOP command.

The robot may also have internal safety failure features. For example,the robot may monitor communication between the robot controller and therobot servo used to operate the platform motors. The robot monitor mayswitch a relay to terminate power to the platform motors if the monitordetects a lack of communication between the robot controller and themotor servo.

The remote station may also have a safety feature for the input device32. For example, if there is no input from the joystick for a certaintime interval (eg. 10 seconds) the computer 22 may not relay subsequentinput unless the user presses a button for another time interval (eg. 2seconds), which reactivates the input device.

While certain exemplary embodiments have been described and shown in theaccompanying drawings, it is to be understood that such embodiments aremerely illustrative of and not restrictive on the broad invention, andthat this invention not be limited to the specific constructions andarrangements shown and described, since various other modifications mayoccur to those ordinarily skilled in the art.

What is claimed is:
 1. A remote controlled robot, comprising: a mobileplatform; a head that supports a monitor and is coupled to said mobileplatform; a boom coupled to said mobile platform; and, an auxiliarycamera coupled to said boom.
 2. The robot of claim 1, further comprisinga primary camera coupled to said head.
 3. The robot of claim 1, whereinsaid boom has at least one passive joint.
 4. The robot of claim 1,wherein said boom is connected to said head.
 5. The robot of claim 4,wherein said head moves in at least two degrees of freedom.
 6. The robotof claim 1, further comprising a microphone and a speaker coupled tosaid mobile platform.
 7. The robot of claim 1, wherein said camera iscoupled to said boom by a quick release mechanism.
 8. A remotecontrolled robot system, comprising: a mobile robot that includes; amobile platform; a head that supports a monitor and is coupled to saidmobile platform; a boom coupled to said mobile platform; an auxiliarycamera coupled to said boom; and, a remote control station that controlssaid mobile robot.
 9. The system of claim 8, wherein said mobile robotincludes a primary camera coupled to said head.
 10. The system of claim7, wherein said boom has at least one passive joint.
 11. The system ofclaim 8, wherein said boom is connected to said head.
 12. The system ofclaim 11, wherein said head moves in at least two degrees of freedom.13. The system of claim 8, further comprising a microphone and a speakercoupled to said mobile platform.
 14. The system of claim 8, wherein saidremote control station includes a camera coupled to said monitor of saidmobile robot.
 15. The system of claim 8, wherein said remote controlstation displays a display user interface that includes a robot viewfield, a station view field and an auxiliary camera view field.
 16. Thesystem of claim 15, wherein an image from said auxiliary camera isdisplayed in said robot view field.
 17. The robot of claim 8, whereinsaid camera is coupled to said boom by a quick release mechanism. 18.The robot of claim 8, wherein movement of said camera is controlledthrough said remote control station.
 19. A method for controlling amobile robot, comprising: transmitting commands from a remote controlstation to a mobile robot that has a monitor; moving the mobile robot inresponse to the commands; and, transmitting an image from an auxiliarycamera that is coupled to a boom of the mobile robot to the remotecontrol station.
 20. The method of claim 19, further comprising movingthe boom and auxiliary camera.
 21. The method of claim 19, furthercomprising transmitting an image from a camera of the remote controlstation to a monitor of the mobile robot.
 22. The method of claim 19,wherein the image transmitted from the auxiliary camera is displayed ina display user interface of the remote control station.